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<div class="header">
  <div class="summary">
<a href="#func-members">Functions</a>  </div>
  <div class="headertitle">
<div class="title">Reconstruction<div class="ingroups"><a class="el" href="../../d8/d8c/group__sfm.html">Structure From Motion</a></div></div>  </div>
</div><!--header-->
<div class="contents">
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:ga279c084302ae1d7541d458e4b23fabd3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/db5/group__reconstruction.html#ga279c084302ae1d7541d458e4b23fabd3">cv::sfm::reconstruct</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> points2d, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> Ps, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> points3d, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> K, bool is_projective=false)</td></tr>
<tr class="memdesc:ga279c084302ae1d7541d458e4b23fabd3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reconstruct 3d points from 2d correspondences while performing autocalibration.  <a href="../../da/db5/group__reconstruction.html#ga279c084302ae1d7541d458e4b23fabd3">More...</a><br /></td></tr>
<tr class="separator:ga279c084302ae1d7541d458e4b23fabd3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gaadb8cc60069485cbb9273b1efebd757d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/db5/group__reconstruction.html#gaadb8cc60069485cbb9273b1efebd757d">cv::sfm::reconstruct</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> points2d, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> Rs, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> Ts, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> K, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> points3d, bool is_projective=false)</td></tr>
<tr class="memdesc:gaadb8cc60069485cbb9273b1efebd757d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reconstruct 3d points from 2d correspondences while performing autocalibration.  <a href="../../da/db5/group__reconstruction.html#gaadb8cc60069485cbb9273b1efebd757d">More...</a><br /></td></tr>
<tr class="separator:gaadb8cc60069485cbb9273b1efebd757d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga2d2661dc124447c3ff1c589eb8354768"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/db5/group__reconstruction.html#ga2d2661dc124447c3ff1c589eb8354768">cv::sfm::reconstruct</a> (const std::vector&lt; <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &gt; images, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> Ps, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> points3d, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> K, bool is_projective=false)</td></tr>
<tr class="memdesc:ga2d2661dc124447c3ff1c589eb8354768"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reconstruct 3d points from 2d images while performing autocalibration.  <a href="../../da/db5/group__reconstruction.html#ga2d2661dc124447c3ff1c589eb8354768">More...</a><br /></td></tr>
<tr class="separator:ga2d2661dc124447c3ff1c589eb8354768"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gae4fb41e10f6d6bad54f2555fc8902dbb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/db5/group__reconstruction.html#gae4fb41e10f6d6bad54f2555fc8902dbb">cv::sfm::reconstruct</a> (const std::vector&lt; <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &gt; images, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> Rs, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> Ts, <a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a> K, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> points3d, bool is_projective=false)</td></tr>
<tr class="memdesc:gae4fb41e10f6d6bad54f2555fc8902dbb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reconstruct 3d points from 2d images while performing autocalibration.  <a href="../../da/db5/group__reconstruction.html#gae4fb41e10f6d6bad54f2555fc8902dbb">More...</a><br /></td></tr>
<tr class="separator:gae4fb41e10f6d6bad54f2555fc8902dbb"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<dl class="section note"><dt>Note</dt><dd><ul>
<li>Notice that it is compiled only when Ceres Solver is correctly installed.<br />
 Check installation instructions in the following tutorial: <a class="el" href="../../db/db8/tutorial_sfm_installation.html">SFM module installation</a> </li>
</ul>
</dd></dl>
<h2 class="groupheader">Function Documentation</h2>
<a id="ga279c084302ae1d7541d458e4b23fabd3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga279c084302ae1d7541d458e4b23fabd3">&#9670;&nbsp;</a></span>reconstruct() <span class="overload">[1/4]</span></h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::sfm::reconstruct </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a>&#160;</td>
          <td class="paramname"><em>points2d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>Ps</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>points3d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a>&#160;</td>
          <td class="paramname"><em>K</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>is_projective</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p><code>#include &lt;<a class="el" href="../../d3/de1/reconstruct_8hpp.html">opencv2/sfm/reconstruct.hpp</a>&gt;</code></p>

<p>Reconstruct 3d points from 2d correspondences while performing autocalibration. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">points2d</td><td>Input vector of vectors of 2d points (the inner vector is per image). </td></tr>
    <tr><td class="paramname">Ps</td><td>Output vector with the 3x4 projections matrices of each image. </td></tr>
    <tr><td class="paramname">points3d</td><td>Output array with estimated 3d points. </td></tr>
    <tr><td class="paramname">K</td><td>Input/Output camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\). Input parameters used as initial guess. </td></tr>
    <tr><td class="paramname">is_projective</td><td>if true, the cameras are supposed to be projective.</td></tr>
  </table>
  </dd>
</dl>
<p>This method calls below signature and extracts projection matrices from estimated K, R and t.</p>
<dl class="section note"><dt>Note</dt><dd><ul>
<li>Tracks must be as precise as possible. It does not handle outliers and is very sensible to them. </li>
</ul>
</dd></dl>

</div>
</div>
<a id="gaadb8cc60069485cbb9273b1efebd757d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gaadb8cc60069485cbb9273b1efebd757d">&#9670;&nbsp;</a></span>reconstruct() <span class="overload">[2/4]</span></h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::sfm::reconstruct </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a>&#160;</td>
          <td class="paramname"><em>points2d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>Rs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>Ts</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a>&#160;</td>
          <td class="paramname"><em>K</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>points3d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>is_projective</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p><code>#include &lt;<a class="el" href="../../d3/de1/reconstruct_8hpp.html">opencv2/sfm/reconstruct.hpp</a>&gt;</code></p>

<p>Reconstruct 3d points from 2d correspondences while performing autocalibration. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">points2d</td><td>Input vector of vectors of 2d points (the inner vector is per image). </td></tr>
    <tr><td class="paramname">Rs</td><td>Output vector of 3x3 rotations of the camera. </td></tr>
    <tr><td class="paramname">Ts</td><td>Output vector of 3x1 translations of the camera. </td></tr>
    <tr><td class="paramname">points3d</td><td>Output array with estimated 3d points. </td></tr>
    <tr><td class="paramname">K</td><td>Input/Output camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\). Input parameters used as initial guess. </td></tr>
    <tr><td class="paramname">is_projective</td><td>if true, the cameras are supposed to be projective.</td></tr>
  </table>
  </dd>
</dl>
<p>Internally calls libmv simple pipeline routine with some default parameters by instatiating <a class="el" href="../../de/d42/classcv_1_1sfm_1_1SFMLibmvEuclideanReconstruction.html" title="SFMLibmvEuclideanReconstruction class provides an interface with the Libmv Structure From Motion pipe...">SFMLibmvEuclideanReconstruction</a> class.</p>
<dl class="section note"><dt>Note</dt><dd><ul>
<li>Tracks must be as precise as possible. It does not handle outliers and is very sensible to them.</li>
<li>To see a working example for camera motion reconstruction, check the following tutorial: <a class="el" href="../../d5/dab/tutorial_sfm_trajectory_estimation.html">Camera Motion Estimation</a>. </li>
</ul>
</dd></dl>

</div>
</div>
<a id="ga2d2661dc124447c3ff1c589eb8354768"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga2d2661dc124447c3ff1c589eb8354768">&#9670;&nbsp;</a></span>reconstruct() <span class="overload">[3/4]</span></h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::sfm::reconstruct </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &gt;&#160;</td>
          <td class="paramname"><em>images</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>Ps</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>points3d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a>&#160;</td>
          <td class="paramname"><em>K</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>is_projective</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p><code>#include &lt;<a class="el" href="../../d3/de1/reconstruct_8hpp.html">opencv2/sfm/reconstruct.hpp</a>&gt;</code></p>

<p>Reconstruct 3d points from 2d images while performing autocalibration. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">images</td><td>a vector of string with the images paths. </td></tr>
    <tr><td class="paramname">Ps</td><td>Output vector with the 3x4 projections matrices of each image. </td></tr>
    <tr><td class="paramname">points3d</td><td>Output array with estimated 3d points. </td></tr>
    <tr><td class="paramname">K</td><td>Input/Output camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\). Input parameters used as initial guess. </td></tr>
    <tr><td class="paramname">is_projective</td><td>if true, the cameras are supposed to be projective.</td></tr>
  </table>
  </dd>
</dl>
<p>This method calls below signature and extracts projection matrices from estimated K, R and t.</p>
<dl class="section note"><dt>Note</dt><dd><ul>
<li>The images must be ordered as they were an image sequence. Additionally, each frame should be as close as posible to the previous and posterior.</li>
<li>For now DAISY features are used in order to compute the 2d points tracks and it only works for 3-4 images. </li>
</ul>
</dd></dl>

</div>
</div>
<a id="gae4fb41e10f6d6bad54f2555fc8902dbb"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gae4fb41e10f6d6bad54f2555fc8902dbb">&#9670;&nbsp;</a></span>reconstruct() <span class="overload">[4/4]</span></h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::sfm::reconstruct </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &gt;&#160;</td>
          <td class="paramname"><em>images</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>Rs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>Ts</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaf77c9a14ef956c50c1efd4547f444e63">InputOutputArray</a>&#160;</td>
          <td class="paramname"><em>K</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>points3d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>is_projective</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p><code>#include &lt;<a class="el" href="../../d3/de1/reconstruct_8hpp.html">opencv2/sfm/reconstruct.hpp</a>&gt;</code></p>

<p>Reconstruct 3d points from 2d images while performing autocalibration. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">images</td><td>a vector of string with the images paths. </td></tr>
    <tr><td class="paramname">Rs</td><td>Output vector of 3x3 rotations of the camera. </td></tr>
    <tr><td class="paramname">Ts</td><td>Output vector of 3x1 translations of the camera. </td></tr>
    <tr><td class="paramname">points3d</td><td>Output array with estimated 3d points. </td></tr>
    <tr><td class="paramname">K</td><td>Input/Output camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\). Input parameters used as initial guess. </td></tr>
    <tr><td class="paramname">is_projective</td><td>if true, the cameras are supposed to be projective.</td></tr>
  </table>
  </dd>
</dl>
<p>Internally calls libmv simple pipeline routine with some default parameters by instatiating <a class="el" href="../../de/d42/classcv_1_1sfm_1_1SFMLibmvEuclideanReconstruction.html" title="SFMLibmvEuclideanReconstruction class provides an interface with the Libmv Structure From Motion pipe...">SFMLibmvEuclideanReconstruction</a> class.</p>
<dl class="section note"><dt>Note</dt><dd><ul>
<li>The images must be ordered as they were an image sequence. Additionally, each frame should be as close as posible to the previous and posterior.</li>
<li>For now DAISY features are used in order to compute the 2d points tracks and it only works for 3-4 images.</li>
<li>To see a working example for scene reconstruction, check the following tutorial: <a class="el" href="../../d4/d18/tutorial_sfm_scene_reconstruction.html">Scene Reconstruction</a>. </li>
</ul>
</dd></dl>

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